A kind of intelligent distant control self-adapting pipe robot
The invention belongs to automation equipment field, and in particular to a kind of intelligent distant control self-adapting pipe robot.
At present, laser processing technology has been widely used for laser melting coating, welding, heat treatment and the cleaning of inner-walls of duct
Deng field, domestic and international Patents and document for the technological means of pipeline processing have one it is common the characteristics of, i.e., laser head from
Rotation (focus circumferentially on tube wall move by path) or pipeline spin.These methods have shortcomings, such as：Drive processing
The motion of head rotation, and the laser optical path of correspondence design so that processing head overall structure becomes complicated, if allowing pipeline to revolve
Turn then workpiece shifting mechanism complexity and be difficult to ensure that pipeline is coaxial with incident beam；Relative movement between above-mentioned focus and pipeline
It is uneven that mode also results in the inefficient, processing effect of Laser Processing, and laser spot along the circumferential direction order is mobile exists
Circumferential thermal stresses circulation change, the problems such as cause pipeline to deform.
The Chinese invention patent of patent No. ZL201510195584.7《A kind of inner-walls of duct laser Machining head》Disclose one
The inner-walls of duct laser Machining head without processing head or pipeline spin is planted, the inner-walls of duct laser Machining head is saturating using multiple cones
The combination of mirror, focus lamp and conical mirror, constitutes ring focusing Line beam, without processing head or pipeline spin, you can high
Efficiency, high accuracy, the high-quality Laser Processing for completing inner-walls of duct.But when the inner-walls of duct laser Machining head works, need
Coordinate with pipe walking mechanism, make processing head advance along pipeline and complete processing.
Research for pipe robot both at home and abroad has had significant progress, and common walking manner mostly is inertia punching
Walking, creeping, flexible drive walking or running on wheels etc. are hit, but by comparative study, it is seen that, existing pipe machine
The overall structure and driving principle of device people is relative complex；Self adaptation cannot be realized to the pipeline of caliber change；Need external power supply
Power is provided, so as to limit motility and the range of movement of mechanism, therefore is difficult to be greatly expanded.
The content of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, there is provided a kind of pipeline that can adapt to different-diameter, structure letter
The good intelligent distant control self-adapting pipe robot of single, motility.
The present invention is achieved through the following technical solutions：
A kind of intelligent distant control self-adapting pipe robot, including control guidance set, Universal drive component and six it is adaptive
Carriage assembly should be adjusted；
Control guidance set include traction bearing pin, traction housing, battery case, set of cells, taper switching housing, circuit board,
Reducing motor, reducing motor install housing, transmission multidiameter, rolling bearing, end ring and nylon block；The traction housing
For robot to be linked together with external process head, the traction to processing head is realized；Peace in the internal cavities of traction housing
Equipped with battery case, set of cells is arranged in battery case；One end of the taper switching housing passes through spiral shell with the bottom of traction housing
Stricture of vagina is connected, and the other end is installed housing and is connected by screw thread with reducing motor；The taper switching enclosure interior is hollow,
Circuit board is installed, the circuit board is connected with set of cells, by battery-powered in cavity；The reducing motor installs housing
Hexahedron structure, it is respectively equipped with 3 screwed holes with 3 sides of 120 degree of distributions of angle, adjusts for fixedly mounting self adaptation
Whole carriage assembly；Reducing motor is arranged on reducing motor and installs in the internal cavities of housing, and reducing motor is connected with circuit board, by
Circuit board is controlled it；One end of transmission multidiameter is connected with the output shaft of reducing motor, and the other end is by axle rank and rolling
Dynamic bearing coordinates to be installed, and housing washer is set with end ring inwall, and nylon block is embedded in transmission multidiameter and rolls
Universal drive component includes damping spring, universal joint, spring pre-tightening handwheel, handwheel sleeve, plain thrust bearing, biography
Moving axis, hexahedron sleeve and cone-shaped flange；One side connector of the universal joint is connected by bearing pin with transmission multidiameter, opposite side
Joint coordinates to install and is connected by bearing pin and power transmission shaft；The first end of the power transmission shaft is provided with through hole, and middle part is provided with step surface,
Second end is provided with external screw thread；Symmetrical two local axial plane is provided between step surface and external screw thread；The hexahedron set
3 screwed holes are respectively equipped with 3 sides of 120 degree of distributions of angle on the outer wall of cylinder, for fixedly mounting self-adaptative adjustment
Frame component；One side end of hexahedron sleeve is provided with an installing hole matched with the local axial plane size of power transmission shaft；It is hexahedro
The opposite side of body sleeve is coordinated with cone-shaped flange by screw thread to be installed；Described power transmission shaft one end is by bearing pin and the side of universal joint
Joint coordinates to be installed；In other end insertion hexahedron sleeve, the installing hole coordinates with the local axial plane of power transmission shaft to be installed, and
Installing hex nut by step surface and end carries out axial restraint；One end of the damping spring abuts with nylon block, separately
One end is abutted spring pre-tightening handwheel and is locked by bolt；The spring pre-tightening handwheel is coordinated with handwheel sleeve by screw thread pacifies
Dress, realizes that damping spring pretightning force is adjusted by adjusting spring pre-tightening handwheel and handwheel sleeve relative position；Plain thrust bearing
Inner ring is installed with power transmission shaft coaxial cooperation, and outer ring coordinates with handwheel sleeve lining installs.
The self-adaptative adjustment carriage assembly include polyurethane wheel, deep groove ball bearing, polyurethane wheel rotating shaft, ears support,
Ears fixed seat, two connecting rods, two spring holders, two springs, alignment pin and mounting seats；The mounting seat is used
In fixed self-adaptative adjustment carriage assembly；Three groups in six groups of self-adaptative adjustment carriage assemblys are fixedly mounted on reducing motor installation
On three sides of housing, in addition three groups are fixedly mounted on three sides of hexahedron sleeve；The polyurethane wheel, a pair of depths
Ditch ball bearing, polyurethane wheel rotating shaft, ears support and ears fixed seat composition wheel set assembly, wherein deep groove ball bearing are a pair,
Polyurethane wheel both sides are embedded in respectively, and ears support is arranged in ears fixed seat, and polyurethane wheel is arranged on polyurethane wheel rotating shaft
On, the supported on both sides of polyurethane wheel rotating shaft is arranged in the ears structure of ears support both sides；The ears fixed seat includes flat
Face base and two crect ears, offer two relative arcuate grooves on flat base, and just right with the screwed hole on ears support,
For adjusting the angle of wheel set assembly and being locked by screw bolt and nut；The connecting rod is in I shape, and two ends are provided with
Symmetrical ears structure, middle part is square structure, and on the square structure screwed hole is provided with；One end double ear knot of the connecting rod
Structure is arranged on the bottom of ears fixed seat by bearing pin, and other end ears structure is arranged in mounting seat by alignment pin；
The parallel installation of two connecting rods；First spring holder through mounting seat one end through hole, left and right two ends respectively with two bullets
The first end of spring is fixed；Second spring holder is through away from the screwed hole on the connecting rod of first spring holder, left and right
Two ends are fixed respectively with the second end of two springs.
The present invention has the advantages that：
1st, intelligent distant control self-adapting pipe robot of the present invention has higher pipeline to pass through performance and stability, can
Operation is carried out in certain curvature elbow, tapered pipeline, valve pipe, is deposited when especially can advance in effectively solving small-bore pipeline
It is stuck, be difficult to turn, not easily pass through valve member, complex structure, it is heavy the problems such as；Solve existing pipe robot simultaneously
Energy resource supply defect, complicated integral structure, self adaptation, automatization and intelligence degree are more low cannot to be realized to tapered pipeline ask
2nd, intelligent distant control self-adapting pipe robot of the present invention by high-strength spring in Universal drive component and
The effect of Double-linkage connecting rod, is suitable for pipe diameter change, and robot is during traveling, it is ensured that polyurethane wheel can be all the time
Contact inner-walls of duct.
3rd, intelligent distant control self-adapting pipe robot of the present invention is used as actuating device by universal joint, can make machine
People passes through bend, and damping spring plays damping buffering effect to cardan universal joint component, mainly for preventing robot through narrow
There is whipping phenomenon during bend, so as to ensure the excellent excessively curved performance of robot and stationarity.
4th, the present invention adopts screw type driving principle, on the premise of machining accuracy and gait of march is ensured, substantially reduces
Integrally-built complexity so that robot advances freely in the pipeline of different tube diameters, its caliber adaptive range is little extremely
100mm, greatly to 600mm, and by changing self-adaptative adjustment stent size, is applicable to larger diameter pipeline.
5th, intelligent distant control self-adapting pipe robot of the present invention can also easily load local area network wireless remote control
Module, so as to realize that intelligent remote is manipulated and on-line condition monitoring.
Description of the drawings
Fig. 1 is the overall pattern of intelligent distant control self-adapting pipe robot of the present invention；
Fig. 2 is the profile for controlling guidance set；
Fig. 3 is the structure chart for drawing housing；
Fig. 4 is the structure chart of Universal drive component；
Fig. 5 is the structure chart of power transmission shaft；
Fig. 6 is the structure chart of hexahedron sleeve；
Fig. 7 is the structure chart of self-adaptative adjustment carriage assembly；
Fig. 8 is the structure chart of ears support；
Fig. 9 is the structure chart of ears fixed seat；
Figure 10 is the structure chart of connecting rod；
The implication of each label is as follows in figure：
Control guidance set 1, Universal drive component 3, self-adaptative adjustment carriage assembly 2, traction bearing pin 101, traction housing
102nd, battery case 103, set of cells 104, taper switching housing 105, circuit board 106, reducing motor 107, reducing motor mounting shell
Body 108, transmission multidiameter 109, rolling bearing 110, end ring 111, nylon block 112, damping spring 301, universal joint
302nd, spring pre-tightening handwheel 303, handwheel sleeve 304, plain thrust bearing 305, power transmission shaft 306, hexahedron sleeve 401, taper
Flange 402, through hole 3061, step surface 3062, axial plane 3063, arcuate groove 2051, crect ear 2052, installing hole 4011, double ear knot
Structure 2061, square structure 2062.
With reference to the accompanying drawings and detailed description the present invention will be further described in detail.
As Figure 1-10 shows, the invention provides a kind of intelligent distant control self-adapting pipe robot, including：Control guiding group
Part 1, Universal drive component 3 and six self-adaptative adjustment carriage assemblys 2.
Control guidance set 1 includes traction bearing pin 101, traction housing 102, battery case 103, the switching of set of cells 104, taper
Housing 105, circuit board 106, reducing motor 107, reducing motor install housing 108, transmission multidiameter 109, rolling bearing 110,
End ring 111 and nylon block 112.
In coniform, inside is cavity to traction housing 102 main body, and top is provided with two symmetrical lugs, two
A through hole is provided with lug, the gap for installing external process head connector is provided between two lugs；Towing pin
Axle 101 sequentially passes through through hole, the through hole on external process head connector and right side lug on the lug of left side, by robot with it is outer
Portion's processing head links together, and realizes the traction to processing head.Battery case 103 is installed in the internal cavities of traction housing 102,
Set of cells 104 is arranged in battery case 103.
One end of taper switching housing 105 is connected with the bottom of traction housing 102 by screw thread, the other end and
Reducing motor is installed housing 108 and is connected by screw thread.The taper switching inner hollow of housing 105, is provided with cavity
Circuit board 106, the circuit board 106 is connected with set of cells 104, is powered by set of cells 104.
It is hexahedron structure that the reducing motor installs housing 108, and it is with 3 sides difference of 120 degree of distributions of angle
3 screwed holes are provided with, for fixedly mounting self-adaptative adjustment carriage assembly 2；Reducing motor 107 is arranged on reducing motor mounting shell
In the internal cavities of body 108, reducing motor 107 is connected with circuit board 106, is controlled it by circuit board 106.The circuit
Plate 106 is loaded with local area network wireless terminal control module, is capable of achieving the advance of wireless remote control control robot, retreats and advance fast
The control of degree.
One end of transmission multidiameter 109 is connected with the output shaft of reducing motor 107, and the other end is by axle rank and rolling bearing
110 coordinate installation, the outer ring of rolling bearing 110 to be set with the inwall of end ring 111, and nylon block 112 is embedded in transmission multidiameter
Between 109 and rolling bearing 110.
Universal drive component 3 includes damping spring 301, universal joint 302, spring pre-tightening handwheel 303, handwheel sleeve 304, flat
Face thrust bearing 305, power transmission shaft 306, hexahedron sleeve 401 and cone-shaped flange 402.
One side connector of the universal joint 302 is connected by bearing pin with transmission multidiameter 109, and another side connector passes through bearing pin
Coordinate to install with power transmission shaft 306 and be connected.
The first end of the power transmission shaft 306 is provided with through hole 3061, and middle part is provided with step surface 3062, and the second end is provided with outer
Screw thread；Symmetrical two local axial plane 3063 is provided between step surface 3062 and external screw thread.
3 screwed holes are respectively equipped with 3 sides of 120 degree of distributions of angle on the outer wall of the hexahedron sleeve 401, are used
In fixed installation self-adaptative adjustment carriage assembly 2.One side end of hexahedron sleeve 401 is provided with the office of one and power transmission shaft 306
The installing hole 4011 of the size of portion's axial plane 3063 matching.The opposite side of hexahedron sleeve 401 is matched somebody with somebody with cone-shaped flange 402 by screw thread
Close and install.
The one end of the power transmission shaft 306 is coordinated by bearing pin with a side connector of universal joint 302 installs；Other end insertion is hexahedro
In body sleeve 401, the installing hole 4011 coordinates with the local axial plane 3063 of power transmission shaft 306 to be installed, and by step surface
3062 and end install hex nut 307 carry out axial restraint.
One end of the damping spring 301 abuts with nylon block 112, and the other end abuts spring pre-tightening handwheel 303 and leads to
Cross bolt locking；The spring pre-tightening handwheel 303 is coordinated with handwheel sleeve 304 by screw thread to be installed, by adjusting spring pre-tightening
Handwheel 303 realizes that the pretightning force of damping spring 307 is adjusted with the relative position of handwheel sleeve 304.The inner ring of plain thrust bearing 305 and biography
The coaxial cooperation of moving axis 306 is installed, and outer ring coordinates with the inwall of handwheel sleeve 304 installs.
The self-adaptative adjustment carriage assembly 2 can according to the diameter adjust automatically support angle of pipeline with height, and
The upper polyurethane wheel 201 for guaranteeing every pack support is close to inner-walls of duct.The self-adaptative adjustment carriage assembly 2 specifically includes poly- ammonia
Ester wheel 201, deep groove ball bearing 202, polyurethane wheel rotating shaft 203, ears support 204,205, two connecting rods 206 of ears fixed seat,
Two spring holders 207, two springs 208, alignment pin 210 and mounting seats 211.
The mounting seat 211 is used to fix self-adaptative adjustment carriage assembly 2；In six groups of self-adaptative adjustment carriage assemblys 2
Three groups be fixedly mounted on reducing motor install housing 108 three sides on, in addition three groups are fixedly mounted on hexahedron sleeve
On 401 three sides.
The polyurethane wheel 201, a pair of deep groove ball bearings 202, polyurethane wheel rotating shaft 203, ears support 204 and ears are consolidated
Reservation 205 constitutes wheel set assembly, and wherein deep groove ball bearing 202 is a pair, and the both sides of polyurethane wheel 201, ears are embedded in respectively
Frame 204 is arranged in ears fixed seat 205, and polyurethane wheel 201 is arranged in polyurethane wheel rotating shaft 203, polyurethane wheel rotating shaft 203
Supported on both sides be arranged on the both sides of ears support 204 ears structure on.The ears fixed seat 205 includes flat base and two
Individual crect ear 2052, offers two relative arcuate grooves 2051 on flat base, and with ears support 204 on screwed hole just
It is right, for adjusting the angle of wheel set assembly and being locked by screw bolt and nut.
The connecting rod 206 is in I shape, and two ends are provided with symmetrical ears structure 2061, and middle part is square structure 2062, institute
State and be provided with screwed hole on square structure 2062.One end ears structure 2061 of the connecting rod 206 is arranged on ears by bearing pin
The bottom of fixed seat 205, other end ears structure 2061 is arranged in mounting seat 211 by alignment pin 210.Two connecting rods
206 parallel installations.
First spring holder 207 through the one end of mounting seat 211 through hole, left and right two ends respectively with two springs
208 first end is fixed.Second spring holder 207 is through away from the spiral shell on the connecting rod 206 of first spring holder 207
Pit, left and right two ends are fixed respectively with the second end of two springs 208.
The operation principle of above-mentioned intelligent distant control self-adapting pipe robot is：
Reducing motor 107 drives Universal drive component 3 and hexahedron sleeve 401 to rotate, outside hexahedron sleeve 401
The polyurethane wheel 201 of three groups of self-adaptative adjustment carriage assemblys 3 of side is rotated because being close to the frictional force of inner-walls of duct generation, by
In the axis of pivot center and the hexahedron sleeve 401 of polyurethane wheel 201 be in an acute angle of inclination, therefore polyurethane wheel 201 and pipe
The movement locus of road inwall contact point are the spatially spiral line along conduit axis, so as to force hexahedron sleeve 401 along pipeline
Axis is walked；And three groups of guiding polyurethane wheels 201 of the self-adaptative adjustment carriage assembly 3 being arranged on control guidance set 1
Pivot center is mutually perpendicular to the axis of hexahedron sleeve 401, therefore controls guidance set 1 along conduit axis direction with power drive
Device advances together or retreats, and plays guide effect, to ensure that robot integrally can smoothly advance in the duct.The pipeline
Robot can drag relevant device and the operation such as be detected, cleaned, being repaired to pipeline as haulage gear.
The present invention can change into that various ways are apparent to one skilled in the art, and such change is not considered as
Depart from the scope of the present invention.All such technical staff to the field obviously change, and are included within this right
Within the scope of requirement.